Pengaruh Pembatasan Sudut Joint Terhadap Kinerja Manipulator Planar
DOI:
https://doi.org/10.26418/elkha.v3i1.246Abstract
Abstrak- Disamping menawarkan beberapa kelebihan, redundancy dari gerakan joint menyulitkan persoalan kontrol manipulator. Hal ini disebabkan antara lain karena pembatas-pembatas fisik seperti batas sudut joint, batas kecepatan joint dan batas kecepatan end-effector yang seharusnya diperhitungkan. Dalam makalah ini diteliti pemanfaatan redundancy untuk pengoptimalan manipulabilitas manipulator redundant dengan memperhitungkan pembatasan sudut joint. Metode dekomposisi digunakan untuk memperoleh invers kinematik manipulator. Measure of manipulability digunakan sebagai fungsi kriteria yang akan dioptimalkan. Dari hasil simulasi komputer terbukti bahwa ukuran manipulabilitas pada manipulator yang memanfaatkan redundancy dan memperhitungkan adanya pembatasan sudut joint lebih optimal dibandingkan dengan manipulator yang tidak memanfaatkan redundancy dan perubahan sudut tiap joint akan selalu bergerak pada batas sudut joint yang telah ditentukan.
Kata kunci- Manipulator Redundant, Manipulabilitas, Metode Dekomposisi, Pembatasan Sudut Joint
Downloads
Additional Files
Published
Issue
Section
License
Copyright (c) 2012 ELKHA : Jurnal Teknik Elektro
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
1. Proposed Policy for Journals That Offer Open Access
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
2. Proposed Policy for Journals That Offer Delayed Open Access
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication, with the work [SPECIFY PERIOD OF TIME] after publication simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
